DE69701776D1 - Getriebe - Google Patents

Getriebe

Info

Publication number
DE69701776D1
DE69701776D1 DE69701776T DE69701776T DE69701776D1 DE 69701776 D1 DE69701776 D1 DE 69701776D1 DE 69701776 T DE69701776 T DE 69701776T DE 69701776 T DE69701776 T DE 69701776T DE 69701776 D1 DE69701776 D1 DE 69701776D1
Authority
DE
Germany
Prior art keywords
transmission
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE69701776T
Other languages
English (en)
Other versions
DE69701776T2 (de
Inventor
Akio Hashimoto
Hiroki Mori
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nabtesco Corp
Original Assignee
Teijin Seiki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Teijin Seiki Co Ltd filed Critical Teijin Seiki Co Ltd
Application granted granted Critical
Publication of DE69701776D1 publication Critical patent/DE69701776D1/de
Publication of DE69701776T2 publication Critical patent/DE69701776T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F16H2049/003—Features of the flexsplines therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Transmission Devices (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Gear Transmission (AREA)
DE69701776T 1996-07-31 1997-07-23 Getriebe Expired - Lifetime DE69701776T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP20169696 1996-07-31
JP11735297A JP3698855B2 (ja) 1996-07-31 1997-05-08 回転運動伝動装置

Publications (2)

Publication Number Publication Date
DE69701776D1 true DE69701776D1 (de) 2000-05-31
DE69701776T2 DE69701776T2 (de) 2000-08-31

Family

ID=26455484

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69701776T Expired - Lifetime DE69701776T2 (de) 1996-07-31 1997-07-23 Getriebe

Country Status (6)

Country Link
US (1) US5860331A (de)
EP (1) EP0822356B1 (de)
JP (1) JP3698855B2 (de)
KR (1) KR100368996B1 (de)
DE (1) DE69701776T2 (de)
TW (1) TW338782B (de)

Families Citing this family (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000120811A (ja) 1998-08-12 2000-04-28 Teijin Seiki Co Ltd 撓み噛み合い式減速機
EP0990819A1 (de) * 1998-10-02 2000-04-05 Teijin Seiki Boston, Inc. Spannungswellengetriebe mit zwei Ausgängen
JP3792417B2 (ja) * 1998-10-26 2006-07-05 ナブテスコ株式会社 真空チャンバーに用いる回転軸のシール機構
DE19860353C1 (de) * 1998-12-28 2000-06-21 Renk Ag Getriebe
WO2002063187A1 (de) * 2001-02-08 2002-08-15 Oechsler Aktiengesellschaft Wellgetriebe mit haubenförmigem abtriebsring
JP2003176857A (ja) * 2001-12-11 2003-06-27 Teijin Seiki Co Ltd 噛み合い式歯車装置用フレクススプラインおよびそのフレクススプラインを備えた噛み合い式歯車装置
DE102005020305A1 (de) * 2005-04-30 2006-11-02 Zf Lenksysteme Gmbh Radialflexible Abrollbuchse
KR100800449B1 (ko) * 2007-03-14 2008-02-04 한국과학기술연구원 하모닉 감속기
WO2009077139A2 (de) * 2007-12-15 2009-06-25 Hirschmann Automotive Gmbh Gleitkeilgetriebe, angewendet in einer sensoranordnung
DE102008001632A1 (de) * 2008-05-07 2009-11-12 Zf Lenksysteme Gmbh Radialflexible Abrollbuchse
JP4948479B2 (ja) * 2008-06-26 2012-06-06 株式会社ハーモニック・ドライブ・システムズ 複合型波動歯車減速機
JP5094688B2 (ja) * 2008-11-27 2012-12-12 シチズン千葉精密株式会社 モータ付波動歯車減速装置
DE102009000648A1 (de) * 2009-02-06 2010-08-12 Zf Lenksysteme Gmbh Radialflexible Abrollbuchse
US11280394B2 (en) 2009-03-30 2022-03-22 Tq-Systems Gmbh Gear, motor-gear unit, vehicle, generator with a gear, and force transmitting element
JP5774691B2 (ja) * 2011-05-16 2015-09-09 株式会社ハーモニック・ドライブ・システムズ ユニット型波動歯車装置
WO2012157021A1 (ja) * 2011-05-16 2012-11-22 株式会社ハーモニック・ドライブ・システムズ ２段クロスローラベアリング
JP5833480B2 (ja) * 2012-03-21 2015-12-16 本田技研工業株式会社 波動歯車装置および歩行補助装置
US10371240B2 (en) 2013-03-20 2019-08-06 Tq-Systems Gmbh Harmonic pin ring gearing
US9145919B2 (en) * 2013-08-14 2015-09-29 Mao-Tu Lee Speed-reduction transmission bearing
US9157517B2 (en) * 2013-09-16 2015-10-13 Hamilton Sundstrand Corporation Compound harmonic drive
CN104196978B (zh) * 2014-08-05 2016-08-17 福建工程学院 一种扭转传动装置
JP6474678B2 (ja) * 2015-04-30 2019-02-27 株式会社ダイヘン ワーク搬送装置
CN105914942B (zh) * 2016-06-23 2018-02-06 福建工程学院 基于扭转传动的高速可调速直线运动装置
CN106015513B (zh) * 2016-06-23 2018-02-06 福建工程学院 自伸缩式可避免绞结的扭转传动机构
CN106113081A (zh) * 2016-07-29 2016-11-16 柳州福能机器人开发有限公司 一种手术机器人的关节
CN106112983A (zh) * 2016-07-29 2016-11-16 柳州福能机器人开发有限公司 一种关节机器人的行走机构
CN106217366A (zh) * 2016-07-29 2016-12-14 柳州福能机器人开发有限公司 弧焊机器人的驱动装置
CN106142074A (zh) * 2016-07-29 2016-11-23 柳州福能机器人开发有限公司 一种机器人驱动装置的加工装配方法
CN106184462A (zh) * 2016-07-29 2016-12-07 柳州福能机器人开发有限公司 人机协作机器人的行走装置
CN106142126A (zh) * 2016-07-29 2016-11-23 柳州福能机器人开发有限公司 一种手术机器人关节的加工装配工艺
CN106246806A (zh) * 2016-07-29 2016-12-21 柳州福能机器人开发有限公司 一种智能护理机器人的减速器
CN106217350A (zh) * 2016-07-29 2016-12-14 柳州福能机器人开发有限公司 双臂机器人的行走机构
CN106113027A (zh) * 2016-07-29 2016-11-16 柳州福能机器人开发有限公司 一种公共服务机器人的驱动器
CN106090184A (zh) * 2016-07-29 2016-11-09 柳州福能机器人开发有限公司 一种机器人用谐波减速器
CN106065933B (zh) * 2016-07-29 2018-10-02 柳州福能机器人开发有限公司 一种机器人减速器柔轮的加工方法
CN106065924A (zh) * 2016-07-29 2016-11-02 柳州福能机器人开发有限公司 消防救援机器人的驱动器
CN106181992A (zh) * 2016-07-29 2016-12-07 柳州福能机器人开发有限公司 一种机器人的驱动装置
CN106224487A (zh) * 2016-07-29 2016-12-14 柳州福能机器人开发有限公司 机器人高精密减速器传动机构
CN106142127A (zh) * 2016-07-29 2016-11-23 柳州福能机器人开发有限公司 一种智能机器人关节装置的加工装配工艺
CN106090183A (zh) * 2016-07-29 2016-11-09 柳州福能机器人开发有限公司 智能工业机器人的减速器柔轮
CN106182070A (zh) * 2016-07-29 2016-12-07 柳州福能机器人开发有限公司 一种智能机器人的关节装置
CN106166673A (zh) * 2016-07-29 2016-11-30 柳州福能机器人开发有限公司 一种关节机器人行走机构的加工装配工艺
CN106239129A (zh) * 2016-07-29 2016-12-21 柳州福能机器人开发有限公司 高性能机器人驱动装置的加工装配方法
DE102016122845A1 (de) 2016-11-28 2018-05-30 Tq-Systems Gmbh Harmonisches Pinring-Getriebe, Drehmomentmessvorrichtung und Freilaufanordnung
CN109176595B (zh) * 2018-10-19 2023-11-24 杭州宇树科技有限公司 机器人双关节单元及应用其的足式机器人和协作机械臂
JP6592210B2 (ja) * 2019-01-30 2019-10-16 株式会社ダイヘン 同軸状２軸の減速機構
US20220373073A1 (en) * 2019-10-31 2022-11-24 The Johns Hopkins University Harmonic drive actuator gearhead

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Publication number Priority date Publication date Assignee Title
US3128641A (en) * 1962-06-05 1964-04-14 United Shoe Machinery Corp Power transmission
US3214999A (en) * 1964-04-09 1965-11-02 Roger H Lapp Harmonic drive
SU578515A1 (ru) * 1971-02-15 1977-10-30 Предприятие П/Я А-1297 Волнова передача
US3789700A (en) * 1972-04-04 1974-02-05 Usm Corp Positive drive roller planetary wave generator
US3986412A (en) * 1974-02-13 1976-10-19 Usm Corporation Redundant motor reducer drive
CH651899A5 (de) * 1979-11-02 1985-10-15 Zahnradfabrik Friedrichshafen Antrieb mit einem motor und einem spannungswellen-getriebe.
US4624621A (en) * 1982-10-21 1986-11-25 Kabushiki Kaisha Kobe Seiko Sho Wrist mechanism for industrial robots and the like
SU1740826A1 (ru) * 1990-04-12 1992-06-15 Московский Институт Электронного Машиностроения Волнова герметична передача
US5222409A (en) * 1991-09-25 1993-06-29 Dalakian Sergei V Industrial robot arms

Also Published As

Publication number Publication date
US5860331A (en) 1999-01-19
TW338782B (en) 1998-08-21
KR980010024A (ko) 1998-04-30
DE69701776T2 (de) 2000-08-31
JPH1096452A (ja) 1998-04-14
JP3698855B2 (ja) 2005-09-21
KR100368996B1 (ko) 2003-06-18
EP0822356B1 (de) 2000-04-26
EP0822356A1 (de) 1998-02-04

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